Renesas R-IN32M3 Series User Manual page 93

R-IN32M3-EC User's Manual
6.11 Application Layer Registers
6.11.1 AL Control Register (AL_CONTROL)
AL_CONTROL indicates the state transition of the device state machine according to the request from the master. In
addition, this register acknowledges an error indication from the slave.
15 14
0 0
AL_CONTROL
0 0
ECAT
0 0
PDI
Bit Position Bit Name
5 DEVICEID
4 ERRINDACK
3 to 0 INISTATE
Note: The PDI has to read the AL control register after ECAT has written it. Otherwise, ECAT cannot
write the AL control register again. Reading this register from PDI clears bit 0 in the AL event
request register (AL_EVENT_REQ: 0x0220).
R18UZ0003EJ0501
Jan. 12, 2021
13 12 11 10 9
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
Device Identification Request
0: No request
1: Device Identification request
Error Indication Acknowledge
0: Error indication from the AL status register is not acknowledged.
1: Error indication from the AL status register is acknowledged.
These bits indicate the state transition of the device state machine.
1: Init state request
3: Bootstrap state request
2: Pre-operational state request
4: Safe-operational state request
8: Operational state request
6. EtherCAT Slave Controller Function
8 7 6 5 4 3
0 0 0
R/(W) R/(W) R/(W) R/(W) R/(W) R/(W)
0 0 0
R/ R/ R/
0 0 0
(clear) (clear) (clear)
Description
Address
2 1 0
400E 0120H
R/ R/ R/
(clear) (clear) (clear)
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Initial
Value
0001H